Hybrid direct detection and coherent light detection and ranging system

ABSTRACT

The present disclosure relates to systems and methods for determining a range and relative speed of objects in an environment. An example method includes causing a laser light source to emit a plurality of light pulses, both incoherent and coherent. The light pulses interact with an environment to provide reflected light pulses. The method includes providing a local oscillator signal based on a coherent light pulse. The method also includes receiving, at a detector, the reflected light pulses, and the local oscillator signal. The method additionally includes determining, based on at least one of the reflected light pulses, a presence of an object in the environment. The method yet further includes determining, based on another reflected light pulse and the local oscillator signal, a relative speed of the object with respect to the detector.

CROSS-REFERENCE TO RELATED APPLICATION

The present application claims the benefit of U.S. patent applicationSer. No. 15/390,454, filed Dec. 23, 2016, the content of which isherewith incorporated by reference.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Conventional light detection and ranging (LIDAR) systems are configuredto emit laser light pulses into an environment of the system. Objectswithin the environment may reflect the laser light pulses. At least aportion of the reflected light may be detected as received light pulsesby a receiver portion of the LIDAR system. Distances to the objectswithin the environment may be determined based on respective time delaysbetween the emitted light pulses and corresponding received lightpulses.

Optical heterodyne detection includes a non-linear optical mixing of anunmodulated signal and a signal modulated at a local oscillatorfrequency. The non-linear optical mixing may occur when detecting thesuperimposed optical signals at a square-law detector. The detectionprocess produces signals at the sum and difference frequencies of theunmodulated signal and the modulated signal.

SUMMARY

The present disclosure generally relates to an optical system. Theoptical system may be configured to emit and detect both coherent andincoherent laser light pulses. In such a scenario, the optical systemmay provide information indicative of distances and relative speeds ofobjects within an environment of the system.

In a first aspect, a system is provided. The system includes aphotodetector. The photodetector is configured to receive light from anenvironment of the system. The system also includes a laser lightsource. The laser light source is configured to emit laser light intothe environment. The laser light source is configured to provide a localoscillator signal to the photodetector. The system also includes acontroller with at least one processor and a memory. The at least oneprocessor is configured to execute instructions stored in the memory soas to carry out operations. The operations include causing the laserlight source to emit a first light pulse. The first light pulse is anincoherent light pulse. The first light pulse interacts with theenvironment to provide a first reflected light pulse. The operationsinclude causing the laser light source to emit a second light pulse. Thesecond light pulse is a coherent light pulse. The second light pulseinteracts with the environment to provide a second reflected lightpulse. The operations include receiving, at the photodetector, the firstreflected light pulse, the second reflected light pulse, and the localoscillator signal. The operations yet further include determining, basedon the first reflected light pulse, a presence of an object in theenvironment. The operations also include determining, based on thesecond reflected light pulse and the local oscillator signal, a relativespeed of the object with respect to the system.

In a second aspect, a method is provided. The method includes causing alaser light source to emit a first light pulse. The first light pulse isan incoherent light pulse. The first light pulse interacts with anenvironment to provide a first reflected light pulse. The method alsoincludes causing the laser light source to emit a second light pulse.The second light pulse is a coherent light pulse. The second light pulseinteracts with the environment to provide a second reflected lightpulse. The method also includes providing a local oscillator signalbased on the second light pulse. The method additionally includesreceiving, at a photodetector, the first reflected light pulse, thesecond reflected light pulse, and the local oscillator signal. Themethod yet further includes determining, based on the first reflectedlight pulse, a presence of an object in the environment. The method alsoincludes determining, based on the second reflected light pulse and thelocal oscillator signal, a relative speed of the object with respect tothe photodetector.

In a third aspect, a method is provided. The method includes causing alaser light source to emit a plurality of light pulses. The plurality oflight pulses includes at least one incoherent light pulse and at leastone coherent light pulse. The plurality of light pulses interacts withan environment to provide a plurality of reflected light pulses. Themethod also includes providing a local oscillator signal based on the atleast one coherent light pulse. The method additionally includesreceiving, at a photodetector, the local oscillator signal and at leastsome of reflected light pulses of the plurality of reflected lightpulses. The method yet further includes determining, based on reflectedlight pulses corresponding to the at least one incoherent light pulse, apresence of an object in the environment. The method also includesdetermining, based on reflected light pulses corresponding to the atleast one coherent light pulse and the local oscillator signal, arelative speed of the object with respect to the photodetector.

Other aspects, embodiments, and implementations will become apparent tothose of ordinary skill in the art by reading the following detaileddescription, with reference where appropriate to the accompanyingdrawings.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 illustrates a system, according to an example embodiment.

FIG. 2 illustrates a system, according to an example embodiment.

FIG. 3A illustrates a signal, according to an example embodiment.

FIG. 3B illustrates a signal, according to an example embodiment.

FIG. 3C illustrates a signal, according to an example embodiment.

FIG. 3D illustrates a scenario involving several signals, according toan example embodiment.

FIG. 3E illustrates a signal, according to an example embodiment.

FIG. 4 illustrates a method, according to an example embodiment.

FIG. 5 illustrates a method, according to an example embodiment.

DETAILED DESCRIPTION

Example methods, devices, and systems are described herein. It should beunderstood that the words “example” and “exemplary” are used herein tomean “serving as an example, instance, or illustration.” Any embodimentor feature described herein as being an “example” or “exemplary” is notnecessarily to be construed as preferred or advantageous over otherembodiments or features. Other embodiments can be utilized, and otherchanges can be made, without departing from the scope of the subjectmatter presented herein.

Thus, the example embodiments described herein are not meant to belimiting. Aspects of the present disclosure, as generally describedherein, and illustrated in the figures, can be arranged, substituted,combined, separated, and designed in a wide variety of differentconfigurations, all of which are contemplated herein.

Further, unless context suggests otherwise, the features illustrated ineach of the figures may be used in combination with one another. Thus,the figures should be generally viewed as component aspects of one ormore overall embodiments, with the understanding that not allillustrated features are necessary for each embodiment.

I. Overview

An optical system includes at least one laser light source. In anexample embodiment, multiple laser light sources may be used in variouscombinations in a master optical power amplifier (MOPA) fiber laserconfiguration. For example, a seed laser and a pump laser may provideshort pulses (2-4 ns) of light with relatively short coherence length athigh power (15 W average power) and 1550 nm wavelength. These pulses aredescribed herein as “incoherent” pulses. It is understood that othercombinations of pulse length, average power, and wavelength arepossible. Furthermore, the local oscillator and the pump laser mayprovide relatively longer pulses (e.g., 8 microseconds or more) of lightwith relatively longer coherence length at relatively lower power (e.g.,1 watt average power). These pulses are described herein as “coherent”pulses. In some embodiments, the seed laser and local oscillator lightsources may be combined via a 90%-10% fiber combiner coupled to a singlemode fiber. However, other ways to optically couple the several lightsources are possible.

The optical system also includes a receiver system. The receiver systemmay include an array of photodetectors (e.g., a single photon avalanchedetector (SPAD) array) and a read out integrated circuit (ROIC) (e.g.,an application specific integrated circuit (ASIC)), which mayamplify/filter signals from the respective photodetectors. As such, inan example embodiment, the receiver system may be configured to receivethe incoherent light pulses so as to provide information indicative of atime of flight of the received incoherent light pulses. From thetime-of-flight information, the received incoherent light pulses mayprovide ranging information (e.g., similar or identical to aconventional LIDAR system).

At least a portion of the light generated from the local oscillator maybe directed toward the SPAD array. In such a scenario, the coherentlight received at the SPAD array may combine in a non-linear fashion(e.g., via homodyne or heterodyne mixing) to form a beat frequencysignal. As such, each photodetector element of the SPAD array may beconsidered a non-linear mixing element. The beat frequency signal mayprovide information about an object (from which the light pulse wasreflected) moving relative to the optical system based on a Dopplertechnique. For example, the beat frequency of a slow moving object(e.g., 0.1 m/s) may be around 125 kHz, whereas a fast-moving object(e.g., 20 m/s) may have a beat frequency of 40 MHz. As such, the opticalsystem may be configured to provide information about moving objects inan environment proximate to the optical system. In an exampleembodiment, the beat frequency of the homodyne or heterodyne signal maybe determined by converting the signal to a digital form (e.g., with ananalog-to-digital converter) and detecting the waveform frequency usinga digital detection method. Additionally or alternatively, the beatfrequency may be detected by a phase locked loop (PLL) and/or a lock-inamplifier. Other ways of obtaining coherent pulse information vianon-linear mixing are contemplated.

In some embodiments, the ROIC or other computational elements of theoptical system may include various combinations of amplifiers, filters,sample and hold circuits, and/or comparators. In such a scenario, theROIC may provide functions similar or identical to a samplingoscilloscope (e.g., a logarithmic transimpedance amplifier (TIA), alow-pass filter (LPF), a sample and hold circuit, and/or a comparator).Other methods and systems that provide sampled data of slowly varyingsignals (beat frequencies) are contemplated.

The “incoherent” and “coherent” laser pulses may be emitted in aninterleaved fashion. For example, for each short “incoherent” laserpulse emitted, a single, long “coherent” laser pulse may be emitted.Alternatively, for every 10 incoherent pulses, 1 coherent laser pulsemay be emitted. Other interleaved pulse trains are possible.

In an example embodiment, the local oscillator may have a very high Q(quality factor). For example, the Q of the local oscillator may be 1million or more, so as to provide a coherence length on the order of 100meters. The local oscillator may include a telecommunications-gradediode laser, an external cavity distributed feedback (DFB) laser, awhispering gallery mode oscillator/laser, or a vertical cavity surfaceemitting laser (VCSEL).

In some embodiments, the local oscillator signal may be “chirped.” Thatis, the wavelength of the local oscillator may be intentionally adjustedin a predetermined fashion. As such, ranging information may be obtainedby detecting a temporal position of the chirped return signal.

II. Example Systems

FIG. 1 illustrates a system 100, according to an example embodiment.System 100 includes at least one laser light source 110, one or morephotodetectors 130, a read-out circuit 140, and a controller 150. System100 may include a modulator 120. System 100 may be at least a portion ofa light distance and ranging (LIDAR) system. That is, the system 100 maybe configured to interact with an environment. In some embodiments, asdescribed herein, system 100 may provide location and relative velocityinformation about objects in the environment (e.g., vehicles, buildings,landmarks, animals, etc.).

In some embodiments, the laser light source 110 is configured to emitlaser light into an environment around the system 100. The laser lightsource 110 is configured to provide a local oscillator signal to the oneor more photodetectors 130. For example, the emitted laser light fromthe laser light source 110 may be split into two portions. A firstportion (e.g., 10% of total laser power) of emitted laser light may beutilized as a local oscillator signal. A second portion (e.g., 90%) ofemitted laser light may be emitted into the environment around thesystem 100.

In a homodyne detection operating mode, the first portion of emittedlaser light may be incident directly onto the photodetectors 130. Insuch a scenario, the second portion of emitted laser light may be mixedwith reflected light from the environment when they interact with thephotodetectors 130. Such direct mixing may provide a homodyne signal.

In a heterodyne detection operating mode, the first portion of emittedlaser light may be modulated via modulator 120 before being directedtoward the photodetectors 130, as described elsewhere herein.

In an example embodiment, the laser light source 110 may be a singlemode laser. For instance, the laser light source 110 may include a laserconfigured to provide emission light having a wavelength about 1550nanometers. Furthermore, other low phase noise, single mode, singlewavelength light sources are possible. Other wavelengths in the nearinfrared (e.g., 0.7-2.0 microns), are possible and contemplated. In anexample embodiment, a wavelength of emission light may be selectedand/or controlled based on considerations such as environmentalconditions, obstacle density/location, vehicle speed, etc.

In some embodiments, the laser light source 110 may include a pluralityof light sources. For instance, the plurality of light sources mayinclude several laser light sources with different emission wavelengths(or tunable emission wavelength). In such a scenario, the laser lightsource 110 and/or the tuned emission wavelength may be selected based ona need for a desired emission wavelength.

In some embodiments, the laser light source 110 may include a masteroptical power amplifier (MOPA) fiber laser, wherein the MOPA includes aseed laser and a pump laser configured to emit light pulses of at least15 watts average power and at an emission wavelength of about 1550 nm.It will be understood that other average powers and emission wavelengthsare possible and contemplated herein.

The laser light source 110 may be optically coupled to the modulator 120by free-space, a fiber optic coupling, a waveguide, and/or a beamsplitter. The modulator 120 is configured to controllably modulate atleast the second portion of the light emitted by the laser light source110.

In some embodiments, the modulated light from the modulator 120 mayprovide a local oscillator signal for a heterodyne detection process.Namely, the local oscillator signal may be mixed with laser lightreflected from the environment to provide a heterodyne signal.

The modulator 120 may be configured to shift an optical frequency of thesecond portion of the light emitted by the laser light source 110. Insome embodiments, the modulator 120 may shift a frequency of the emittedlaser light within a range of 1 MHz to 100 MHz (e.g., 40 MHz). Otherfrequency shifts are contemplated herein.

In some embodiments, modulator 120 may be a refractive modulator. Assuch, the refractive modulator may include a material having amodifiable refractive index. For example, the refractive modulator mayadjust its refractive index via the acousto-optic effect or theelectro-optic effect. In such examples, the refractive modulator may bea traveling wave acousto-optic modulator (AOM) or an electroopticmodulator (EOM).

Alternatively, the modulator 120 may be a spatial light modulator (SLM)configured to modify a phase of incident light.

In some embodiments, the modulator 120 may modulate incoming lightaccording to various transfer functions. For example, the modulator 120may modulate the phase of incoming light according to a sine wavemodulation input signal. Alternatively, the modulation input signal mayinclude a linear sawtooth wave. In such a scenario, the modulator 120may modulate the incoming light according to serrodyne phase modulation.

Alternatively, the modulator 120 may be an absorptive modulator. In sucha scenario, the absorptive modulator may include a material having amodifiable absorption coefficient. For example, the absorptive modulatormay be an electro-absorptive modulator (EAM). Additionally oralternatively, the modulator 120 may include other ways to modulate afrequency, duration, or another aspect of the second portion of theemitted laser light so as to provide the local oscillator signal.

The photodetectors 130 are configured to receive light from anenvironment of the system 100. The photodetectors 130 may include one ormore single photon avalanche detectors (SPADs). In some embodiments, thephotodetectors 130 may include an avalanche photodiode (APD), acomplementary metal oxide semiconductor (CMOS) detector, or acharge-coupled device (CCD). For example, the photodetectors 130 mayinclude indium gallium arsenide (InGaAs) APDs configured to detect lightat wavelengths around 1550 nm. Other types of photodetectors arepossible and contemplated herein.

The photodetectors 130 may include a plurality of photodetector elementsdisposed in a one-dimensional array or a two-dimensional array. In anexample embodiment, the photodetectors 130 may include sixteen detectorelements arranged in a single column (e.g., a linear array). Forexample, the detector elements could be arranged along, or could be atleast parallel to, a primary axis. It will be understood that otherarrangements of the respective detector elements are possible. Forinstance, the detector elements could be arranged in two columns thatare parallel to a primary axis.

In an example embodiment, each detector element could be substantiallysquare with a 350 micron side length. Furthermore, the detector pitchcould be 400 microns along the primary axis. That is, a center-to-centerdistance between neighboring detector elements could be 400 microns. Putanother way, assuming a 350 micron detector side length, when arrangedalong the primary axis, the detector elements may have 50 micronsbetween them. It will be understood that other values for the detectorpitch are possible and contemplated. For example, with smaller detectorelements, detector pitches of less than 50 microns are possible.

In example embodiments, the photodetectors 130 may act as one or morenonlinear mixers. For example, the photodetectors 130 may be configuredto mix the received reflected light with the local oscillator signal toprovide a beat frequency. The beat frequency may provide informationabout a relative speed of an object in the environment as describedherein.

System 100 may include one or more further optical components. Forexample, system 100 may include beam splitters and/or optical couplers.The optical components may be configured to modify, direct, and/orabsorb light as described herein. For example, in a fiber optic setup,one or more fiber couplers may be used. Furthermore, the optical fibersmay be single mode fibers. Additionally, the system 100 may includevarious optical components to provide mode matching at thephotodetectors 130. That is, in order to achieve proper opticalheterodyne mixing between the optical signal received from the sampleand the local oscillator signal, optical components may be selected soas to maintain mode matching across at least some of the photodetectors130. Other optical elements, such as optical filters, lenses, apertures,and shutters may be implemented in system 100.

The read-out circuit 140 may include at least one of anapplication-specific integrated circuit (ASIC) or a field-programmablegate array (FPGA), such as a Xilinx XCVU3P Virtex UltraScale+ FPGA. Forinstance, the signal receiver circuit 140 may represent an amplifier oranother type of analog front end system configured to receive respectivephotosignals from the photodetectors 130. Additionally or alternatively,the read-out circuit 140 may include a read-out integrated circuit(ROIC).

The read-out circuit 140 may carry out a variety of other functionsincluding, but not limited to, signal routing/selection (e.g., switch,multiplexer, or demultiplexer), and signal processing (e.g., denoising,decoding, or encoding). The read-out circuit 140 may additionally oralternatively be configured to provide various image processing tasksbased on the received photosignals (e.g., time averaging). In an exampleembodiment, the read-out circuit 140 could include a transimpedanceamplifier (TIA), such as a Maxim MAX 3658 low noise TIA. In otherembodiments, the TIA may be embedded in a custom ASIC or ROIC.

The controller 150 includes at least one processor 152 and a memory 154.The processor is configured to execute instructions stored in the memory154 so as to carry out operations.

The operations include causing the laser light source 110 to emit afirst light pulse. The first light pulse is an incoherent light pulse.In some embodiments, the first light pulse includes a ranging pulse. Theranging pulse is between 2 nanoseconds and 5 nanoseconds in duration.The first light pulse interacts with the environment to provide a firstreflected light pulse.

The operations also include causing the laser light source 110 to emit asecond light pulse. The second light pulse is a coherent light pulse.For example, the second light pulse may include a Doppler pulse. In sucha scenario, the Doppler pulse may be between 125 nanoseconds and 8microseconds in duration. Furthermore, the second light pulse interactswith the environment to provide a second reflected light pulse.

The operations also include receiving, at the photodetector(s) 130, thefirst reflected light pulse, the second reflected light pulse, and thelocal oscillator signal.

The operations include controller 150 determining, based on the firstreflected light pulse, a presence of an object in the environment.Further, the first reflected light pulse may be used to determine adistance to the object in the environment based on, for example, a timeof flight of the emitted laser light.

The controller 150 may be configured to determine the beat frequency ofthe heterodyne signal and/or homodyne signal. For example, the beatfrequency may be a sum or difference frequency between the secondreflected light pulse and the local oscillator signal.

The operations additionally include determining, based on the beatfrequency, a relative speed of the object with respect to the system.That is, the determined beat frequency of the heterodyne signal may beused by controller 150 to determine the relative speed of the object.For example, the relative velocity of an object may be calculated orapproximated as:

${v_{object} \propto {c\left( \frac{f}{f_{0}} \right)}},$where f is the beat frequency and f₀ is the frequency of the emittedlaser light. In some embodiments, determining the beat frequency may beobtained using a phase-locked loop (PLL), a lock-in amplifier, or a fastFourier transform (FFT) analysis.

FIG. 2 illustrates a system 200, according to an example embodiment. Atleast some elements of system 200 may be similar or identical to thecorresponding elements of system 100 as illustrated and described inreference to FIG. 1 . System 200 includes a laser light source 210, abeam splitter 213, a modulator 220, optical elements 224,photodetector(s) 230, and a read-out circuit 240.

The laser light source 210 may include a fiber laser or another type oflaser source.

The optical elements 224 may include, without limitation,polarization-maintaining optical fibers, collection optics, mirrors,couplers, and other elements configured to collect light from anenvironment around the system 200. In some embodiments, the opticalelements 224 could include micro-Fresnel lenses, which may focus lightby refraction in a set of concentric curved surfaces. Yet further, theoptical elements 224 may be include binary optics. Such binary opticalelements may resemble a stepped arrangement of optical materials.

The photodetectors 230 may be optically-coupled to an environment aroundthe system 200 and the modulator 220. In an example embodiment, thephotodetectors 230 may be optically-coupled to the environment and themodulator 220 via optical elements 224. It is understood that otheroptical arrangements are possible so as to enable the photodetectors 230to detect light from a field of view of the environment as well as fromthe local oscillator signal.

In example embodiments, the laser light source 210 may produce emittedlaser light 212. The emitted laser light 212 may interact with beamsplitter 213 so as to separate the emitted laser light 212 into at leasttwo portions. A first portion 214 of emitted laser light may bemodulated by modulator 220 to provide a local oscillator signal 222. Asecond portion 216 of emitted laser light may interact with externalobjects 250, which may be present in the environment around system 200.At least some of the second portion 216 of emitted laser light may bereflected from the external objects 250 to provide a reflected lightsignal 252. The reflected light signal 252 may be collected via theoptical elements 224.

The local oscillator signal 222 and the reflected light signal 252 mayinteract with the photodetectors 230. Namely, the photodetectors 230 mayprovide a “square-law” mixing function on the superimposed localoscillator signal 222 and the reflected light signal 252. That is, adetector signal, D, generated by the photodetectors 230 is proportionalto the square of the electric field amplitude of the light incident onthe photodetectors 230. As an example, in the case of twopolarization-matched, sinusoidally-varying coherent (e.g. in phase)optical signals coincident on the photodetectors 230, namelyS_(reflected) (e.g., the reflected light signal 252) and S_(LO) (e.g.,the local oscillator signal 222), the detector signal may be expressedas a superposition of the two optical signals:D∝∫(S _(reflected) +S _(LO))² dt.

In some embodiments, the read-out circuit 240 may be configured todetermine a beat frequency the detector signal. The beat frequency maybe within a frequency range between 10 kHz to 100 MHz. However, otherbeat frequencies, and frequency ranges are possible. For example, afrequency range may be based on one or more relative speeds of interest.In some embodiments, relative speeds of interest may include speedswithin a range between 0.1 m/s (e.g., a walking pedestrian) to 90 m/s(vehicle traveling on the opposite side of a highway). Greater or lesserspeeds may also be of interest.

In the scenario where the emitted laser light has a wavelength of 1550nm, 0.1 m/s may correspond to a beat frequency of about 66 kHz and 90m/s may correspond to a beat frequency of 58 MHz. Accordingly, in someembodiments, system 200 may be configured to determine beat frequenciesof the detector signal within a frequency range between about 66 kHz and58 MHz. It will be understood that other relative speeds and/or othercorresponding beat frequencies are possible and contemplated.

In an example embodiment, the read-out circuit 240 may be used todistinguish movement direction relative to the system 200 based on aDoppler shift of the reflected light signal 252. That is, the read-outcircuit 240 may be used to disambiguate “approaching” and “retreating”objects (e.g., vehicles moving towards and away from the system 200).

While FIG. 2 illustrates system 200 as having a particular arrangementof elements, other arrangements are possible. Additionally oralternatively, some elements of system 200 may be combined and/orrearranged. For example, some types of optical modulators (e.g., anacousto-optical modulator (AOM)) may function as both a frequencyshifter/modulator and a beam splitter at the same time. Furthermore, thelocal oscillator signal 222 may be generated by a different lasersource. Other configurations of the elements of system 200 are possible.

FIGS. 3A, 3B, 3C, 3D, and 3E illustrate various signals and interactionsbetween those signals. Namely, the signals and interactions are providedas examples of which may be transmitted, received, and processed bysystems 100 and 200, as illustrated and described with regard to FIGS. 1and 2 .

FIG. 3A illustrates a signal 300, according to an example embodiment. Asillustrated in FIG. 3A, signal 300 may represent a photon flux receivedat a photodetector (e.g., photodetector 230). Namely, signal 300 mayinclude at least two light pulses. A first light pulse 310 may beobserved during a relatively shorter time period (e.g., between time t₀and t₁) and at a relatively high photon flux of Φ₂. A second light pulse320 may be observed during a relatively longer time period (e.g.,between t₂ and t₃) and at a relatively low photon flux of Φ₁. At othertimes illustrated in FIG. 3A, the signal 300 may indicate a flux of Φ₀,which may represent a noise level of the receiver system. It will beunderstood that relative flux values are used herein because a widerange of absolute flux values may be used in practice based on variousparameters of the optical system (e.g., laser wavelength, optics,detector type, detector photon efficiency, detector linearity, detectorresponsivity, etc.).

In an example embodiment, the first light pulse 310 may represent areflected return signal from a “ranging pulse”, emitted so as toidentify a range to an object in the environment. Furthermore, thesecond light pulse 320 may represent a reflected return signal from a“Doppler pulse”, emitted so as to identify a relative speed of theobject.

FIG. 3B illustrates a signal 340, according to an example embodiment. Asillustrated in FIG. 3B, signal 340 may include a pulse train of receivedphoton flux at one or more photodetectors of system 100 or 200. Namely,the pulse train may include ranging pulses 342 a, 342 b, 342 c, and 342d and Doppler pulses 344 a, 344 b, 344 c, and 344 d. In an exampleembodiment, the pulse train may include temporally-interleaved rangingpulses and Doppler pulses.

FIG. 3C illustrates a signal 350, according to an example embodiment.FIG. 3C illustrates a further variation how light may be emitted andreceived by system 100 or 200. Namely, signal 350 includes a pulse trainthat includes a first group of four ranging pulses (352 a-d) followed bya Doppler pulse 354 a, a second group of four ranging pulses (352 e-h)followed by a Doppler pulse 354 b, and a third group of four rangingpulses (352 i-352 l) and a Doppler pulse 354 c.

FIG. 3D illustrates a scenario 360 involving several signals 362, 364,and 368, according to an example embodiment. Signal 362 may represent alocal oscillator signal based on a Doppler pulse emitted from the laserlight source. In a homodyne detection example, the local oscillatorsignal may include the Doppler pulse itself (e.g., the unmodulatedsignal). In a heterodyne detection example, the local oscillator signalmay include the Doppler pulse modulated at a predetermined frequency(e.g., 40 MHz). In both cases, the local oscillator signal may have acharacteristic optical frequency, f₁.

Signal 364 may represent a reflected Doppler pulse that has interactedwith a moving object in an environment of system 100 or system 200. Dueto interactions between the emitted Doppler pulse and the moving object,the optical frequency, f₂, of the reflected Doppler pulse may haveshifted (e.g., Doppler-shifted) as compared to the optical frequency ofthe as-emitted Doppler pulse.

Signal 368 may represent a heterodyne signal, which may be provided bymixing signals 362 and 364 at a mixer 366. Mixer 366 may be a deviceconfigured to mix optical signals, such as a square law detector (e.g.,photodetectors 130). Signal 368 may include a characteristic beatfrequency. Signal 368 may also include an offset amount 369. The beatfrequency may be a sum frequency (e.g., f_(beat)=f₁+f₂) or a differencefrequency (e.g., |f_(beat)|=f₁−f₂) of signal 362 and signal 364. Thebeat frequency may be determined based on a Fourier analysis or vialock-in amplification and/or phase-locked loop methods. Based on thebeat frequency, a relative speed of the object in the environment may bedetermined.

FIG. 3E illustrates a signal 370, according to an example embodiment.Signal 370 may represent light received by the photodetectors 130.Namely, the photodetectors 130 may receive a ranging pulse 372 betweent₀ and t₁. In some embodiments, a distance between the system 100 or 200and the reflecting object may be determined based on the amount of timebetween emitting the ranging pulse and receiving the reflected rangingpulse.

Signal 370 also includes a Doppler pulse 374 that has been photomixedwith a local oscillator signal a square law detector. Namely, theDoppler pulse 374 may have a characteristic beat frequency based on asum or difference frequency between the modulated (or unmodulated, inthe case of homodyne detection) optical frequency of the as-emittedDoppler pulse and the optical frequency of the reflected Doppler pulse.In some embodiments, a relative speed of the reflecting object may bedetermined based on the beat frequency.

As such, a pulse train that includes both ranging pulses and Dopplerpulses may be utilized to obtain information about distances to objectsin an environment as well as the relative speed of those objects withregard to the system 100 or 200.

III. Example Methods

FIG. 4 illustrates a method 400, according to an example embodiment. Themethod 400 may include various blocks or steps. The blocks or steps maybe carried out individually or in combination. The blocks or steps maybe carried out in any order and/or in series or in parallel. Further,blocks or steps may be omitted or added to method 400.

The blocks of method 400 may be carried out by various elements of thesystems 100 and 200 as illustrated and described in reference to FIGS. 1and 2 . Furthermore, method 400 may involve signals such as signals 300,340, 350, 362, 364, 368, and 370 that are illustrated and described withregard to FIGS. 3A, 3B, 3C, 3D, and 3E.

Block 402 includes causing a laser light source to emit a first lightpulse. For example, the incoherent light pulse could have a coherencelength that is less than 1 millimeter, which may correspond to a laserlinewidth of 2.4 nm or 300 GHz. The first light pulse is an incoherentlight pulse. The first light pulse may be a ranging pulse. The rangingpulse is between 2 nanoseconds and 5 nanoseconds in duration. The firstlight pulse interacts with an environment to provide a first reflectedlight pulse.

Block 404 includes causing the laser light source to emit a second lightpulse. The second light pulse is a coherent light pulse. For example,the coherent light pulse could have a coherence length that is greaterthan the round trip distance of the laser pulse. That is, to obtainDoppler information for an object 200 meters away, the coherence lengthof the coherent laser pulse may be greater than 400 meters. Othercoherence lengths are possible and contemplated herein. In someembodiments, the second light pulse is a Doppler pulse. In suchscenarios, the Doppler pulse may be between 125 nanoseconds and 8microseconds in duration. Other durations are contemplated. The secondlight pulse interacts with the environment to provide a second reflectedlight pulse.

Block 406 includes providing a local oscillator signal based on thesecond light pulse. The local oscillator signal may be provided byutilizing a phase and/or wavelength modulator (e.g., modulator 120). Themodulator could be an acousto-optic modulator or an electro-opticmodulator. The modulator is configured to controllably modulate at leastthe second light pulse based on a reference frequency signal (e.g., 40MHz) so as to provide modulated light (e.g., frequency and/orphase-shifted light). In a homodyne detection mode, the local oscillatorsignal may include a portion of the unmodulated coherent light pulse. Ina heterodyne detection mode, the coherent light pulse may be modulatedaccording to a predetermined reference frequency. In such a scenario,the local oscillator signal may include the modulated coherent lightpulse.

Block 408 includes receiving, at a photodetector, the first reflectedlight pulse, the second reflected light pulse, and the local oscillatorsignal. The photodetector (e.g., photodetector 130) may include at leastone of: an avalanche photodiode (APD), a photomultiplier tube (PMT), acomplementary metal oxide semiconductor (CMOS) detector, or acharge-coupled device (CCD). The image sensor is optically coupled tothe sample and the optical modulator, such that the modulated lightilluminates the photodetector. In some embodiments, the photodetectormay include a plurality of photodetector elements disposed in aone-dimensional or two-dimensional array.

Block 410 includes determining, based on the first reflected lightpulse, a presence of an object in the environment. Determining thepresence of objects in the environment may be based on a time of flightmeasurement. Additionally or alternatively, block 410 may includedetermining distances to the objects in the environment based on a timeof flight measurement.

Block 412 includes determining, based on the second reflected lightpulse and the local oscillator signal, a relative speed of the objectwith respect to the detector. In the case where the photodetector andthe laser light source are not moving, the velocity of a moving objectmay be calculated or approximated as:

${v_{object} \propto {c\left( \frac{f}{f_{0}} \right)}},$where f is Doppler-shifted frequency of the light reflected or scatteredfrom the moving object and f₀ is the optical frequency of the as-emittedlaser light pulse. Other ways to determine or calculate a movement rateof the object are possible and contemplated herein.

As described herein, the photodetector may act as a nonlinear mixerconfigured to mix the received light with the local oscillator signal,which may provide a beat frequency. The method 400 may includedetermining the beat frequency. Determining the beat frequency may beperformed based on an output of a phase-locked loop (PLL), a lock-inamplifier, or a fast Fourier transform (FFT) analysis. Determining therelative speed of the object may be based on the determined beatfrequency.

In some embodiments, a read out circuit (e.g., a ROIC) may be coupled tothe photodetector. In such scenarios, the read out circuit may performat least one of: determining the presence of an object in theenvironment or determining the relative speed of the object with respectto the system.

The ranging pulse and the Doppler pulse may interact with theenvironment via various types of optical processes. For example, theranging pulse and/or the Doppler pulse may be absorbed, reflected, orotherwise scattered by objects and/or media in the environment.

Furthermore, when an object moves with respect to the light source, aDoppler shift may be observed in the light scattered from the movingobject. For example, the Doppler shift may include a change in thefrequency (and corresponding wavelength) of scattered light as comparedto the frequency of emitted light. In other words, in scenarios where anobject is moving with respect to the light source, at least a portion ofthe scattered light received by the photodetector may includeDoppler-shifted light scattered from the moving object.

The Doppler shift Δf may be expressed as:

${\frac{\Delta\; f}{f_{source}} \propto \frac{v}{c}},$where f_(source) is the frequency of emitted light, c is the velocity oflight and v is the velocity of the moving object relative to the lightsource. Accordingly, light scattered from a moving object may beexpressed as:S _(object)(t)∝ sin[2π(f _(source) +Δf)t].

FIG. 5 illustrates a method 500, according to an example embodiment. Themethod 500 may include various blocks or steps. The blocks or steps maybe carried out individually or in combination. The blocks or steps maybe carried out in any order and/or in series or in parallel. Further,blocks or steps may be omitted or added to method 500.

The blocks of method 500 may be carried out by various elements of thesystems 100 and 200 as illustrated and described in reference to FIGS. 1and 2 . Furthermore, method 500 may involve optical and/or electricalsignals similar or identical to signals 300, 340, 350, 362, 364, 368,and 370 that are illustrated and described with regard to FIGS. 3A, 3B,3C, 3D, and 3E.

Block 502 includes causing a laser light source to emit a plurality oflight pulses. The plurality of light pulses may include at least oneincoherent light pulse and at least one coherent light pulse. Theplurality of light pulses interacts with an environment to provide aplurality of reflected light pulses. The plurality of light pulses mayinclude a pulse train. The pulse train includes an interleaved patternof coherent light pulses and incoherent light pulses.

The at least one incoherent light pulse includes a ranging pulse. Theranging pulse is between 2 nanoseconds and 5 nanoseconds in duration.The at least one coherent light pulse includes a Doppler pulse. TheDoppler pulse is between 125 nanoseconds and 8 microseconds in duration.

Block 504 includes providing a local oscillator signal based on the atleast one coherent light pulse. In a homodyne detection mode, the localoscillator signal may include a portion of the unmodulated coherentlight pulse. In a heterodyne detection mode, the coherent light pulsemay be modulated according to a predetermined reference frequency. Insuch a scenario, the local oscillator signal may include the modulatedcoherent light pulse.

Block 506 includes receiving, at a detector, the local oscillator signaland at least some of the reflected light pulses of the plurality ofreflected light pulses.

Block 508 includes determining, based on reflected light pulsescorresponding to the at least one incoherent light pulse, a presence ofan object in the environment.

Block 510 includes determining, based on reflected light pulsescorresponding to the at least one coherent light pulse and the localoscillator signal, a relative speed of the object with respect to thedetector.

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other embodiments may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anillustrative embodiment may include elements that are not illustrated inthe Figures.

A step or block that represents a processing of information cancorrespond to circuitry that can be configured to perform the specificlogical functions of a herein-described method or technique.Alternatively or additionally, a step or block that represents aprocessing of information can correspond to a module, a segment, or aportion of program code (including related data). The program code caninclude one or more instructions executable by a processor forimplementing specific logical functions or actions in the method ortechnique. The program code and/or related data can be stored on anytype of computer readable medium such as a storage device including adisk, hard drive, or other storage medium.

The computer readable medium can also include non-transitory computerreadable media such as computer-readable media that store data for shortperiods of time like register memory, processor cache, and random accessmemory (RAM). The computer readable media can also includenon-transitory computer readable media that store program code and/ordata for longer periods of time. Thus, the computer readable media mayinclude secondary or persistent long term storage, like read only memory(ROM), optical or magnetic disks, compact-disc read only memory(CD-ROM), for example. The computer readable media can also be any othervolatile or non-volatile storage systems. A computer readable medium canbe considered a computer readable storage medium, for example, or atangible storage device.

While various examples and embodiments have been disclosed, otherexamples and embodiments will be apparent to those skilled in the art.The various disclosed examples and embodiments are for purposes ofillustration and are not intended to be limiting, with the true scopebeing indicated by the following claims.

What is claimed is:
 1. A system comprising: a photodetector, wherein the photodetector is configured to receive light from an environment of the system; a laser light source, wherein the laser light source is configured to emit laser light into the environment; and a controller, comprising at least one processor and a memory, wherein the at least one processor is configured to execute instructions stored in the memory so as to carry out operations, the operations comprising: causing the laser light source to emit an incoherent light pulse, wherein the incoherent light pulse interacts with the environment to provide a first reflected light pulse; causing the laser light source to emit a coherent light pulse, wherein the coherent light pulse interacts with the environment to provide a second reflected light pulse, and wherein the incoherent light pulse and the coherent light pulse both form at least a portion of a pulse train, wherein the pulse train comprises a plurality of light pulses; receiving, at the photodetector, the first reflected light pulse, the second reflected light pulse, and a local oscillator signal; and determining, based on the first reflected light pulse, the second reflected light pulse, and the local oscillator signal, a relative speed of an object with respect to the system.
 2. The system of claim 1, wherein the pulse train comprises an interleaved pattern of coherent pulses and incoherent pulses.
 3. The system of claim 1, further comprising a read out circuit, wherein the read out circuit is coupled to the photodetector, wherein the read out circuit is configured to determine the relative speed of the object with respect to the system.
 4. The system of claim 1, wherein the photodetector comprises a nonlinear mixer configured to mix the received light with the local oscillator signal to provide a beat frequency, wherein determining the relative speed of the object is based on determining the beat frequency, wherein determining the beat frequency is based on an output of a phase-locked loop (PLL), a lock-in amplifier, or a fast Fourier transform (FFT) analysis.
 5. The system of claim 1, wherein the photodetector comprises a single photon avalanche detector (SPAD).
 6. The system of claim 1, wherein the photodetector comprises a plurality of photodetector elements disposed in a one-dimensional array or a two-dimensional array.
 7. The system of claim 1, wherein the laser light source comprises a master optical power amplifier (MOPA) fiber laser, wherein the MOPA comprises a seed laser and a pump laser configured to emit light pulses of at least 15 watts average power and at a wavelength of about 1550 nm.
 8. The system of claim 1, wherein the incoherent light pulse comprises a ranging pulse, wherein the ranging pulse is between 2 nanoseconds and 5 nanoseconds in duration.
 9. The system of claim 1, wherein the coherent light pulse comprises a Doppler pulse, wherein the Doppler pulse is between 125 nanoseconds and 8 microseconds in duration.
 10. A method, comprising: causing a laser light source to emit an incoherent light pulse, wherein the incoherent light pulse interacts with an environment to provide a first reflected light pulse; causing the laser light source to emit a coherent light pulse, wherein the coherent light pulse interacts with the environment to provide a second reflected light pulse, and wherein the incoherent light pulse and the coherent light pulse both form at least a portion of a pulse train, wherein the pulse train comprises a plurality of light pulses; receiving, at a photodetector, the first reflected light pulse, the second reflected light pulse, and a local oscillator signal; and determining, based on the first reflected light pulse, the second reflected light pulse, and the local oscillator signal, a relative speed of an object with respect to the photodetector.
 11. The method of claim 10, wherein the pulse train comprises an interleaved pattern of coherent pulses and incoherent pulses.
 12. The method of claim 10, wherein a read out circuit is coupled to the photodetector, wherein the read out circuit determines the relative speed of the object with respect to the photodetector.
 13. The method of claim 10, wherein the photodetector comprises a nonlinear mixer configured to mix the received light with the local oscillator signal to provide a beat frequency, wherein determining the relative speed of the object is based on determining the beat frequency, and wherein determining the beat frequency is based on an output of a phase-locked loop (PLL), a lock-in amplifier, or a fast Fourier transform (FFT) analysis.
 14. The method of claim 10, wherein the photodetector comprises a plurality of photodetector elements disposed in a one-dimensional or two-dimensional array.
 15. The method of claim 10, wherein the incoherent light pulse comprises a ranging pulse, wherein the ranging pulse is between 2 nanoseconds and 5 nanoseconds in duration.
 16. The method of claim 10, wherein the coherent light pulse comprises a Doppler pulse, wherein the Doppler pulse is between 125 nanoseconds and 8 microseconds in duration.
 17. A method, comprising: causing a laser light source to emit a plurality of light pulses, wherein the plurality of light pulses comprises at least one incoherent light pulse and at least one coherent light pulse, wherein the plurality of light pulses interacts with an environment to provide a plurality of reflected light pulses, and wherein the plurality of light pulses comprises a pulse train, wherein the pulse train comprises a plurality of light pulses; receiving, at a detector, a local oscillator signal and at least some of the reflected light pulses of the plurality of reflected light pulses; and determining, based on reflected light pulses corresponding to the at least one coherent light pulse, the at least one incoherent light pulse, and the local oscillator signal, a relative speed of an object with respect to the detector.
 18. The method of claim 17, wherein the detector comprises a nonlinear mixer configured to mix the received light with the local oscillator signal to provide a beat frequency, wherein determining the relative speed of the object is based on determining the beat frequency.
 19. The method of claim 17, wherein the at least one incoherent light pulse comprises a ranging pulse, wherein the ranging pulse is between 2 nanoseconds and 5 nanoseconds in duration.
 20. The method of claim 17, wherein the at least one coherent light pulse comprises a Doppler pulse, wherein the Doppler pulse is between 125 nanoseconds and 8 microseconds in duration. 